novaphy.ik.IKSampler¶
String enum selecting IKSolver seed expansion.
| Member | Value | Behavior |
|---|---|---|
IKSampler.NONE |
"none" |
Use the input seed unchanged; requires n_seeds == 1. |
IKSampler.GAUSS |
"gauss" |
Keep the first seed, then add Gaussian noise and clamp bounded coordinates. |
IKSampler.UNIFORM |
"uniform" |
Sample bounded coordinates uniformly; unbounded coordinates become zero. |
IKSampler.ROBERTS |
"roberts" |
Deterministic Roberts low-discrepancy sequence over bounded coordinates. |
The expanded array has
n_problems * n_seeds rows. IKSolver optimizes every row and returns the
lowest-cost seed for each problem.